Ok, I live and manage cattle and sheep in dryland Colorado. First thing, baby grass should normally be avoided for grazing. Depending on the grass though, teenage and mature grass should be the target. My experience has been best when grazing a paddock somewhat quickly, then get everything off the ground for sometimes up to a year.
I've had cattle graze standing hay (dormant) almost to the ground in winter (blue gramma - which has great dry protein content). It really didnt look good and we had it come back stronger than ever. You just need to give it a good break.
I would suggest observation of neighbors grazing practices and the result. Also, you can just try it on a small scale until you get it dialed in. In dry climates nitrogen tends to be deficient more times than not. Experiment small scale, observe the results, correct as needed. Animals or combinations of animals intended to be grazed also will vary your plan. Birds following ruminants work really, really well!!